EP2713002B1 - Appareil de forage de roches et procédé de positionnement d'une unité de forage de roche - Google Patents

Appareil de forage de roches et procédé de positionnement d'une unité de forage de roche Download PDF

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Publication number
EP2713002B1
EP2713002B1 EP12186768.3A EP12186768A EP2713002B1 EP 2713002 B1 EP2713002 B1 EP 2713002B1 EP 12186768 A EP12186768 A EP 12186768A EP 2713002 B1 EP2713002 B1 EP 2713002B1
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EP
European Patent Office
Prior art keywords
rock drilling
detection device
drilling rig
unit
boom
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP12186768.3A
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German (de)
English (en)
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EP2713002A1 (fr
Inventor
Jouko Muona
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sandvik Mining and Construction Oy
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Sandvik Mining and Construction Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sandvik Mining and Construction Oy filed Critical Sandvik Mining and Construction Oy
Priority to EP12186768.3A priority Critical patent/EP2713002B1/fr
Priority to AU2013222034A priority patent/AU2013222034B2/en
Priority to ZA2013/06821A priority patent/ZA201306821B/en
Priority to CA2827180A priority patent/CA2827180C/fr
Priority to JP2013203175A priority patent/JP5792783B2/ja
Priority to CN201310462750.6A priority patent/CN103711487B/zh
Publication of EP2713002A1 publication Critical patent/EP2713002A1/fr
Application granted granted Critical
Publication of EP2713002B1 publication Critical patent/EP2713002B1/fr
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/022—Control of the drilling operation; Hydraulic or pneumatic means for activation or operation
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B7/00—Special methods or apparatus for drilling
    • E21B7/02—Drilling rigs characterised by means for land transport with their own drive, e.g. skid mounting or wheel mounting
    • E21B7/025—Rock drills, i.e. jumbo drills
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
    • E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral

Definitions

  • the invention relates to a rock drilling rig, and particularly to an arrangement of determining a position of the rock drilling rig at a work site and positioning a rock drilling unit.
  • rock drilling rigs are used.
  • a rock drilling rig is provided with a boom and a rock drilling unit attached to the boom for drilling drill holes into rock surface.
  • the rock drilling rig is positioned in drilling positions where the drilling is executed according to a drilling plan.
  • International patent application WO2011104441 A1 describes an example rock drilling rig comprising a drilling unit for drilling drill holes as a drill hole pattern, wherein the position of a drilling unit is determined and controlled on the basis of the given target position.
  • Drill hole fans including several drill holes in a fan shaped pattern may be drilled when there is a need to reinforce tunnel ceilings and walls and when forming blasting holes for production needs.
  • the worksite may comprise several planned drill hole fans at a distance from each other. Positioning the rock drilling rig to a new drilling position requires complex measuring and positioning systems, which is a disadvantage.
  • An object of the invention is to provide a novel and improved rock drilling rig and a method of positioning a rock drilling unit.
  • the rock drilling rig according to the invention is characterized in that the detection device is aligned in the direction of gravity for detecting a position of at least one reference line at a worksite of the rock drilling rig.
  • the method according to the invention is characterized by aligning the detection device in the direction of gravity and producing a detection pattern in the detection device; positioning the rock drilling rig to a new position where the detection pattern is aimed in the direction of the reference line; determining a current direction and horizontal distance of the rock drilling unit relative to the reference line; and positioning the rock drilling unit to the new drill hole line to be drilled according to an input horizontal reference distance and the detected direction of the reference line.
  • An idea of the disclosed solution is that when positioning a rock drilling rig at a worksite for drilling a drilling pattern, a detection device arranged in the rock drilling rig is used.
  • the detection device is aligned in the direction of gravity at least during the positioning procedure.
  • the worksite is provided with
  • a reference line and the positioning to a new drilling position is executed according to the reference line, which is detected by means of the detection device.
  • the reference line is detected, the current direction and horizontal distance of a rock drilling unit relative to the reference line is determined. This step is called navigation.
  • the drilling unit of the rock drilling rig is positioned to the new drill hole line to be drilled according to an input horizontal reference distance and the detected direction of the reference line. Owner of the mine may define the reference distance between successive drill hole fans or other drilling patterns. This type of drilling process may be called reference drilling.
  • An advantage of the disclosed solution is that the positioning does not require complicated measuring devices and calculations for determining the position and direction of the reference line. No measuring means external to the rock drilling rig are required. Since the detection device is in the direction of gravity, there is no need to measure the vertical distance and inclination between the reference line and the detection device. This simplifies the detection and navigation process. An additional advantage is that the work of an operator becomes easier and less demanding.
  • the reference line is formed of realized drill holes, i.e. the reference line passes through the pre-drilled drill holes.
  • the reference line is formed of at least two realized drill holes.
  • the realized holes produce a vertical reference plane, which is detected by the detection device that is in the direction of the gravity.
  • a previous realized drill hole fan serves as a reference line for the next drill hole fan to be drilled.
  • the fan may be a reinforcing or bolting fan that comprises several drill holes positioned upwards and on the sides in a tunnel or corresponding rock cavern.
  • the fan may be a blasting hole fan comprising drill holes pointing perpendicularly upwards and drill holes pointing angularly upwards.
  • the reference line is formed of reference markings made to the worksite, i.e. the reference line passes through the reference markings.
  • the reference markings may be markings that have been painted on rock surfaces.
  • the reference markings may be electronic devices such as transmitters, RFID -tags or beacons.
  • the reference markings may be devices comprising a reflector or a light source.
  • the detection device produces a fan-shaped detection pattern, the fan-shaped detection pattern pointing upwards and sidewards relative to the rock drilling rig.
  • the detection pattern may have a shape of a circle.
  • the detection pattern may have a shape of a sector of a circle. In some situations it may be sufficient that an angle of the sector is 90° and that only one sector is produced.
  • the fan-shaped detection pattern is a turning beam pattern.
  • the beam pattern can be generated by means of a rotating or turning emitter sending a detection beam in a vertical plane. Because the beam is turning or rotating, it is sufficient that only one beam is emitted. However, it is possible to use several beams too.
  • the fan-shaped detection pattern is formed of at least two narrow beams having the shape of a fan.
  • Two beam emitters are arranged in an angular position relative to each other, and together they produce one uniform fan-shaped pattern that extends upwards and sidewards. Interference of the two fan-shaped beams can be prevented by means of one or more blanking plates.
  • the fan-shaped detection pattern comprises at least three beams.
  • One beam may be directed upwards and two or more beams may be directed sidewards, or obliquely upwards, whereby they are at an angle relative to the beam pointing upwards.
  • the beams may be narrow and point-like so as to produce illuminated points on a rock surface.
  • the detection device is a laser emitting device.
  • the laser emitting device may comprise one single laser beam arranged to be turned or rotated, or two, three or more laser beams may be arranged to form a fan shaped pattern, as discussed above.
  • the beam of the laser may have a form of a narrow fan producing an illuminated line on a rock surface, or the beam may be narrow and point-like so that it produces a small illuminated point on a rock surface.
  • the detection device is a camera.
  • the camera may be a video camera or a still camera.
  • Image data produced by the camera can be processed in an image processor in order to detect positions of pre-drilled holes, reinforcing bolts and reference markings on the observed rock surface.
  • the image processor may include an image recognition system. At its simplest, the image data may be shown on a display unit for an operator, whereby the operator may use the display image as a sighting tool.
  • the detection device is an ultrasound emitting device.
  • the ultrasound emitting device can detect such physical discontinuities on the rock surface.
  • the ultrasonic means can be also used for determining the position of the reference line.
  • the detection device is located at a predetermined horizontal distance from the rock drilling unit.
  • the predetermined distance is set according to a drilling plan and corresponds to a designed horizontal distance between successive drill hole fans to be drilled.
  • the distance between the successive fans, i.e. the reference distance can be defined by the owner of the mine.
  • the detection device may be located at a predetermined horizontal distance from a zero point of a coordinate system of the rock drilling rig.
  • a control unit may execute needed calculations for determining the positions.
  • the position of the detection device is arranged to be adjustable in a horizontal direction relative to the drilling unit. This embodiment allows the position of the detection device to be adjusted in case the reference distance changes significantly.
  • the detection device may comprise position adjusting means that include a slide and bars for supporting the slide, for example.
  • the detection device is arranged to the boom. It is easy and fast to move the detection device to a correct position and direction so that the detection pattern in accordance with the reference line is obtained. In this embodiment there is no need to direct the carrier of the rock drilling rig according to the direction of the reference line, which speeds up the positioning drive of the carrier.
  • the detection device is arranged in the carrier. This embodiment may be useful when the reference distance is long. Further, the carrier may be provided with free space for the detection device and the detection device can be easily positioned to a secure place.
  • the detection device is aligned in the direction of gravity only when the position of the reference line is determined. Rest of the time the detecting device may be positioned in a transport position under a protective cover, for example.
  • the detection device is continuously aligned in the direction of gravity.
  • the detection device produces or receives detection signals only when the position of the reference line is determined. Rest of the time the detection device may be switched off.
  • the detection device produces or receives detection signals continuously.
  • the detection device comprises a pendulum, which is arranged to turn about a horizontal turning axis.
  • the detection device is provided with at least one detection unit, which is arranged to the pendulum.
  • the pendulum tries to keep its position in the direction of gravity since the center of mass of the pendulum is arranged to be below the turning axis.
  • the detection device comprises a pendulum, which is arranged to turn about a horizontal turning axis and aims to keep its position in the direction of gravity.
  • the turning motion of the pendulum is dampened by means of one or more damping devices. Because of the damping means the movement of the pendulum and the detection unit arranged in the pendulum can be more stable.
  • the damping device comprises a basin, damping fluid in the basin, and one or more damping surfaces immersed in the damping fluid.
  • the basin is located under the pendulum and the damping surface is arranged to move together with the pendulum.
  • the damping fluid may be oil, for example.
  • the damping fluid in the basin has viscosity whereby the fluid dampens the movement of the damping surface and the pendulum.
  • the detection device comprises one or more sensors or measuring means for determining the current direction of the detecting device and detecting the direction of the gravity. Further, the detecting device comprises one or more turning devices for positioning the detecting device in the direction of gravity on the basis of received measuring data.
  • the direction of the detection device may be controlled either continuously or only when the reference line needs to be detected.
  • the detection device may be provided with a control device for the position control. In this embodiment the direction of the detection device is actively controlled.
  • the detection device comprises at least one transparent cover arranged on the upper side of the detection device.
  • the shielding cover provides overhead protection for the detection device against dropping stone material, moisture and impurities.
  • the cover improves durability and reliability of the device.
  • the detection device comprises at least one overhead cover and at least one cleaning device for keeping the cover free of impurities.
  • the cleaning device may comprise one or more flushing nozzles whereby the cover may be cleaned by means of water jets, for example.
  • the cleaning device may comprise one or more wiper blades or corresponding mechanical cleaning means.
  • a position of the rock drilling unit relative to the detection device is determined.
  • the boom is provided with boom measuring means for measuring positions of boom parts, and the carriage is provided with inclination measuring means for measuring an inclination of the carrier.
  • the control unit determines the position of the rock drilling unit relative to the detection device on the basis of measuring data received from the measuring means.
  • the drilling unit is then navigated relative to the detected reference line on the basis of the measuring data and known location of the detection device in the rock drilling rig.
  • the rock drilling rig is provided with at least one display unit, and the control unit is configured to display on the display unit a current horizontal position of the rock drilling unit relative to the detected reference line. This feature facilitates positioning the drilling unit to a predetermined horizontal distance from the reference line.
  • the rock drilling rig is provided with at least one display unit.
  • the control unit is able to display on the display unit the current position of the rock drilling unit relative to start points of the holes to be drilled.
  • the distance between the start points is predetermined by a mine owner. This feature facilitates and speeds up the positioning of the drilling unit at the defined locations in a drilling fan or other type of drilling pattern.
  • control unit is arranged to instruct the operator positioning the drilling unit at a predetermined horizontal distance from the reference line. Further, the control unit may instruct the operator positioning the drilling unit at suitable start points in a drill fan. The distance to a start point of a hole to be drilled next can be indicated to the operator, for instance. Instructions, such as measuring data and various sighting patterns can be shown on a display unit, for example.
  • the positioning process comprises a rough-positioning, wherein the carrier is moved so that the detection pattern of the detection device is at the reference line. Thereafter a fine-positioning may be executed so that the detection pattern is arranged in the direction of the reference line.
  • a fine-positioning may be executed so that the detection pattern is arranged in the direction of the reference line.
  • the detection device is arranged to the boom, it is relatively easy to turn the boom so that the detection pattern coincides with the reference line.
  • the horizontal position may be fine adjusted.
  • navigation is executed. In the navigation, positions of boom parts of the boom are measured by means of boom measuring means, and inclination of the carrier is measured by means of inclination measuring means.
  • Navigation further comprises calculating in a control unit of the rock drilling rig the position of the rock drilling unit relative to the reference line on the basis of measuring data received from the measuring means and the predetermined position of the detecting device attached to the boom.
  • the determined current position of the rock drilling unit in relation to the reference line can be indicated on a display unit to an operator.
  • the disclosed detection device and the disclosed positioning process may be utilized also when there is a need to finish a drill hole pattern, such as a fan that is partly drilled and includes pre-drilled holes and undrilled holes.
  • the position of the last pre-drilled hole in an unfinished drill hole line is assigned by positioning the drilling unit to the last realized drill hole in the unfinished drill hole line. Thereafter navigation is executed and the control system may instruct the operator to drill the next drill hole to be drilled in the unfinished drill hole line. Alternatively, the control unit may take care of the drilling of the unfinished drill holes automatically.
  • the rock drilling rig is positioned to a new drilling position so that the drilling unit may be utilized for drilling two or more successive drill hole fans or other patterns at a horizontal reference distance from another. This may reduce the need for positioning drive of the carrier.
  • the horizontal reference distance has to be relatively short.
  • the rock drilling rig is a bolting device provided with a bolting unit that comprises a drilling unit for drilling drill holes in a fan-shaped pattern. Further, the bolting device comprises a bolting unit for arranging reinforcing bolts into the drilled holes.
  • the rock drilling rig is a production drilling rig that is designed for drilling blasting holes into the rock.
  • Such a device is provided with a drilling unit for drilling drill holes upwards according to a blasting-technical pattern.
  • Figure 1 shows two successive drill hole fans 1 drilled at a predetermined horizontal reference distance RD from each other.
  • the reference distance RD is normally defined by an owner of a mine.
  • the drill hole fans 1 comprise several drill holes 2, which may be located on walls and a ceiling of a rock cavern. The direction of the drill holes 2 is crosswise to a tunnel line.
  • Blasting a round may damage the rock defining the tunnel contour, or the firmness of the rock may be insufficient by nature in order to guarantee a safe tunnel.
  • the rock may be reinforced by drilling several adjacent reinforcement holes to which a rock bolt or similar reinforcement members may be fitted.
  • drilling may be executed for generating blasting holes when rock is excavated for production purposes.
  • the blasting holes can be drilled in a fan-shape too.
  • Figure 2 shows in a simplified manner that at least two realized drill holes 2 or artificial reference markings are needed in order to determine a reference line and a vertical reference plane.
  • the realized drill holes are detected by detection patterns 3 produced by a detection device 4.
  • the detection device 4 is arranged to be in the direction of gravity G at least during the detection process.
  • the detected realized drill holes 2 and the direction of gravity G determine the reference line, which is used for determining the position of a drilling unit of the rock drilling rig at a new drilling location at a distance from the reference line.
  • FIG 3 shows a rock drilling rig 5 positioned into a tunnel or a similar rock cavern.
  • the rock drilling rig 5 comprises a movable carrier 6 provided with at least one drilling boom 7 which has a rock drilling unit 8 at its outermost end.
  • the drilling unit 8 comprises a feed beam and a rock drilling machine supported by the feed beam.
  • the boom 7 may comprise several boom parts 7a, 7b.
  • the boom 7 comprises several joints 9 and the length of the boom can be changed.
  • the boom 7 is provided with measuring means 10 such as sensors or measuring devices. Any other measuring principle and device may be used to determine the positions of the boom 7.
  • inclination of the carrier 6 can be detected by an inclination measuring device 11, such as an inclinometer.
  • the position and direction of the drilling unit 8 can be determined in one or more control units 12 on the basis of measuring data received from the boom measuring means 10 and the inclination measuring device 11.
  • the control unit 12 may display the positioning data and other information for an operator 13 on a display device 14.
  • successive drill hole fans 1 are drilled and, between the fans, a horizontal reference distance RD is utilized.
  • a previous realized fan is detected by a detection device 4 situated on the boom 7.
  • a detection pattern or beam coincides with drill holes 4 of the previous fan 1, the rock drilling rig being navigated on the basis of this information.
  • the detection device 4a may be situated on the carrier 6.
  • the detection device 4 may be construed so that the detection pattern is automatically aimed upwards in the direction of gravity.
  • the direction of the detection device 4a may be controlled actively, which requires position measuring and a suitable actuator for moving the detection device in the direction of gravity.
  • Drill holes 2 may be drilled in the direction of gravity or they may be directed at a desired angle relative to gravity. The latter situation is shown by a broken line 2a.
  • reference markings 15 may be made on a rock surface and to use them when determining the reference line. Such reference markings 15 may be used for defining a first reference position, for example.
  • a detection device 4 is positioned so that a detection pattern is at a reference line RL defined by starting points of drill holes of a previous drill hole fan.
  • Figure 5 illustrates that the direction of a carrier 6 may deviate from the direction of the reference line RL since the detection device 4 is attached to a boom 7.
  • the detection pattern can be directed simply by turning the boom 7 and the moving boom parts.
  • a rig 5 is rough-positioned near a reference line by moving a carrier 6.
  • a detection device 4 produces two narrow fan-shaped detection patterns 3.
  • Such a fan-shaped detection pattern forms an illuminated line when it hits a rock surface. It is easy to compare the directions of the produced detection line and a line of realized drill holes or a line of reference markings.
  • FIG 8 shows a detection device 4 in which emitters or detection units 16 are arranged in a pendulum 17 and movement of the pendulum 17 is dampened by a damping device 18.
  • the pendulum 17 is arranged to turn about a horizontal turning axis 19.
  • the pendulum 17 tries to keep its position in the direction of gravity since the center of mass of the pendulum is arranged to be below the turning axis 19.
  • the turning motion of the pendulum 17 may be dampened by means of the damping device 18, which may comprises a basin 20, damping oil 21 in the basin 20, and damping surfaces 22 immersed in the damping oil 21.
  • the basin 20 is located under the pendulum 17 and when the pendulum 17 turns relative to the turning axis 19 the damping surfaces 22 move inside the basin 20.
  • the damping oil 21 dampens the movement of the damping surfaces 22 and the pendulum 17.
  • the detection device may comprise a transparent cover 23 arranged on the upper side of the detecting device 4.
  • the cover 23 may be kept clean by means of a cleaning device 24, which may comprise a flushing nozzle, for example. Further, it may be possible to arrange several transparent protecting films on the cover 23. Then, instead of washing the cover 23, the protecting films may simply be removed one by one when dirt accumulates on the cover.
  • Figure 9 illustrates positioning of a drilling unit 8 to an unfinished drilling fan 1 a.
  • the above-disclosed detection and positioning processes may be utilized also in this case.
  • Such an unfinished fan 1 a includes pre-drilled holes 2 and undrilled holes 2c.
  • the position and direction of a previous fan 1 are detected.
  • the position and direction of the unfinished fan 1 a are determined.
  • the position of a last predrilled hole 2b in the unfinished drill hole fan 1 a is assigned by positioning the drilling unit 8 to the last realized hole 2b.
  • navigation is executed and the drilling unit 8 can be positioned at a start point of the next undrilled drill hole 2d.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Physics & Mathematics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Fluid Mechanics (AREA)
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  • Earth Drilling (AREA)

Claims (15)

  1. Appareil de forage de roches comprenant :
    un support mobile (6) ;
    au moins un bras (7) ;
    au moins une unité de forage de roches (8) agencée au niveau d'une partie distale du bras (7) ;
    au moins un dispositif de détection (4) ; et
    au moins une unité de commande (12) ;
    caractérisé en ce que
    le dispositif de détection (4) est aligné dans le sens de la gravité (G) pour détecter une position d'au moins une ligne de référence (RL) au niveau d'un site de travail de l'appareil de forage de roches (5).
  2. Appareil de forage de roches selon la revendication 1, caractérisé en ce que
    le dispositif de détection (4) a un motif de détection (3) qui est en forme d'éventail et pointe vers le haut et en oblique par rapport à l'appareil de forage de roches (5).
  3. Appareil de forage de roches selon la revendication 1 ou 2, caractérisé en ce que
    le dispositif de détection (4) est un dispositif émettant un laser.
  4. Appareil de forage de roches selon l'une quelconque des revendications précédentes, caractérisé en ce que
    le dispositif de détection (4) est attaché au bras (7).
  5. Appareil de forage de roches selon l'une quelconque des revendications précédentes, caractérisé en ce que
    le dispositif de détection (4) est situé à une distance horizontale prédéterminée de l'unité de forage de roches (8) ; et
    la distance prédéterminée est fixée selon un plan de forage et correspond à une distance horizontale nominale entre des éventails de trous de forage successifs (1) à forer.
  6. Appareil de forage de roches selon l'une quelconque des revendications précédentes, caractérisé en ce que
    le dispositif de détection (4) comprend un pendule (17) agencé pour tourner autour d'un axe de rotation horizontal (19) ;
    le dispositif de détection (4) est muni d'au moins une unité de détection (16) agencée sur le pendule (17) ; et
    le centre de masse du pendule (17) est au-dessous de l'axe de rotation (19), le pendule (17) se positionnant ainsi dans le sens de la gravité.
  7. Appareil de forage de roches selon la revendication 6, caractérisé en ce que
    le dispositif de détection (4) comprend au moins un dispositif d'amortissement (18) pour amortir le mouvement de rotation du pendule (17).
  8. Appareil de forage de roches selon l'une quelconque des revendications précédentes, caractérisé en ce que
    le dispositif de détection (4) comprend au moins un couvercle transparent (23) agencé sur le côté supérieur du dispositif de détection (4) pour une protection aérienne.
  9. Appareil de forage de roches selon l'une quelconque des revendications précédentes, caractérisé en ce que
    le bras (7) est muni d'un moyen de mesure de bras (10) pour mesurer des positions de parties de bras (7a, 7b) du bras (7) ;
    le support (6) est muni d'un moyen de mesure d'inclinaison (11) pour mesurer une inclinaison du support (6) ; et
    l'unité de commande (12) est configurée pour déterminer la position de l'unité de forage de roches (8) par rapport au dispositif de détection (4) sur la base de données de mesure reçues en provenance du moyen de mesure (10, 11).
  10. Appareil de forage de roches selon la revendication 9, caractérisé en ce que
    l'appareil de forage de roches (5) est muni d'au moins une unité d'affichage (14) ; et
    l'unité de commande (12) est configurée pour afficher sur l'unité d'affichage (14) la position courante de l'unité de forage de roches (8) par rapport à la ligne de référence (RL).
  11. Appareil de forage de roches selon l'une quelconque des revendications précédentes, caractérisé en ce que
    l'appareil de forage de roches (5) est une machine à boulonner muni d'une unité de boulonnage ; et
    l'unité de boulonnage comprend une unité de forage (8) pour forer des trous de forage selon un motif en forme d'éventail.
  12. Procédé de positionnement d'un appareil de forage de roches au niveau d'un site de travail, le procédé comprenant :
    la détection d'une ligne de référence (RL) au niveau du site de travail au moyen d'au moins un dispositif de détection (4) agencé sur l'appareil de forage de roches (5) ; et
    le positionnement d'une unité de forage (8) de l'appareil de forage de roches (5) sur une nouvelle ligne de trous de forage selon la ligne de référence détectée (RL) ;
    caractérisé par
    l'alignement du dispositif de détection (4) dans le sens de la gravité (G) et la production d'un motif de détection (3) dans le dispositif de détection (4) ;
    le positionnement de l'appareil de forage de roches (5) à une nouvelle position où le motif de détection (3) est visé dans la direction de la ligne de référence (RL) ;
    la détermination d'une direction courante et d'une distance horizontale de l'unité de forage de roches (8) par rapport à la ligne de référence (RL) ; et
    le positionnement de l'unité de forage de roches (8) sur la nouvelle ligne de trous de forage à forer selon une distance de référence horizontale entrée (RD) et la direction détectée de la ligne de référence (RL).
  13. Procédé selon la revendication 12, caractérisé par
    la détection d'une ligne de trous de forage réalisée au moyen du dispositif de détection (4) ; et
    l'utilisation de la ligne de trous de forage réalisés détectée en tant que ligne de référence (RL) pour la prochaine au moins une ligne de trous de forage suivants à forer.
  14. Procédé selon la revendication 12 ou 13, caractérisé par
    l'utilisation, dans le processus de positionnement, d'un dispositif de détection (4) agencé à une position prédéterminée du bras (7) de l'appareil de forage de roches (5) ;
    le déplacement d'un support (6) de l'appareil de forage de roches (5) jusqu'à une nouvelle position de forage pour forer au moins une ligne de trous de forage en forme d'éventail ;
    le positionnement grossier du support (6) dans la nouvelle position de forage de sorte que le motif de détection (3) du dispositif de détection est au niveau de la ligne de référence (RL) ;
    le positionnement fin du motif de détection (3) dans la direction de la ligne de référence (RL) en déplaçant le bras (7) ;
    la mesure de positions de parties de bras (7a, 7b) du bras à l'aide d'un moyen de mesure de bras (10), et la mesure d'une inclinaison du support (6) à l'aide du moyen de mesure d'inclinaison (11) ;
    le calcul dans une unité de commande (12) de l'appareil de forage de roches (5) de la position de la unité de forage de roches (8) par rapport à la ligne de référence (RL) sur la base de données de mesure reçues en provenance du moyen de mesure (10, 11) et de la position prédéterminée du dispositif de détection (4) dans le bras (7) ; et
    l'indication sur au moins une unité d'affichage (14) de la position courante déterminée de l'unité de forage de roches (8) par rapport à la ligne de référence (RL).
  15. Procédé selon l'une quelconque des revendications précédentes 12 à 14, caractérisé par
    le positionnement de l'unité de forage de roches (8) sur une ligne de trous de forage non finie (1a) ayant au moins un trou de forage prépercé (2, 2b) et au moins un trou non foré (2c, 2d), la ligne de trous de forage non finie (1a) étant à la distance de référence (RD) et dans la direction par rapport à la ligne de référence détectée (RL) ;
    le positionnement de l'unité de forage (8) au niveau d'un trou prépercé (2b) dans la ligne de trous de forage non finie (1a) pour attribuer le dernier trou prépercé (2b) ;
    le positionnement de l'unité de forage (8) dans la ligne de trous de forage non finie (1a) sur une position de début d'un trou non foré (2d) qui est à une distance prédéterminée du dernier trou prépercé détecté (2b) ; et
    l'achèvement du forage en forant plusieurs trous de forage non finis (2c).
EP12186768.3A 2012-10-01 2012-10-01 Appareil de forage de roches et procédé de positionnement d'une unité de forage de roche Active EP2713002B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP12186768.3A EP2713002B1 (fr) 2012-10-01 2012-10-01 Appareil de forage de roches et procédé de positionnement d'une unité de forage de roche
AU2013222034A AU2013222034B2 (en) 2012-10-01 2013-09-02 Rock drilling rig and method of positioning rock drilling unit
ZA2013/06821A ZA201306821B (en) 2012-10-01 2013-09-10 Rock drilling rig and method of positioning rock drilling unit
CA2827180A CA2827180C (fr) 2012-10-01 2013-09-17 Installation de forage de roche et procede de positionnement d'installation de forage de roche
JP2013203175A JP5792783B2 (ja) 2012-10-01 2013-09-30 削岩リグ及び削岩ユニットの位置決め方法
CN201310462750.6A CN103711487B (zh) 2012-10-01 2013-09-30 凿岩设备和定位凿岩单元的方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP12186768.3A EP2713002B1 (fr) 2012-10-01 2012-10-01 Appareil de forage de roches et procédé de positionnement d'une unité de forage de roche

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EP2713002A1 EP2713002A1 (fr) 2014-04-02
EP2713002B1 true EP2713002B1 (fr) 2016-10-26

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EP (1) EP2713002B1 (fr)
JP (1) JP5792783B2 (fr)
CN (1) CN103711487B (fr)
AU (1) AU2013222034B2 (fr)
CA (1) CA2827180C (fr)
ZA (1) ZA201306821B (fr)

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CN105003206B (zh) * 2015-06-30 2017-04-26 上海中联重科桩工机械有限公司 旋挖钻机、旋挖钻机的支腿伸缩控制系统及控制方法
CN105587265B (zh) * 2015-12-13 2017-11-24 山东交通学院 隧道爆破钻孔装置
CN106894807A (zh) * 2017-02-09 2017-06-27 宁夏百辰工业产品设计有限公司 液压凿岩机作业定点移位耐压缓冲装置
CN108487861A (zh) * 2018-04-26 2018-09-04 中国水利水电第四工程局有限公司 一种多臂钻机控制倾斜锚杆钻孔施工系统及施工方法
CN109403946B (zh) * 2018-12-27 2022-07-29 北京三一智造科技有限公司 旋挖钻机回转动画显示的方法、装置及旋挖钻机
EP3696365B1 (fr) 2019-02-14 2021-12-22 Sandvik Mining and Construction Oy Agencement de forage de roches, installation de forage de roches et procédé de forage

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JP2847271B2 (ja) * 1992-02-13 1999-01-13 佐藤工業株式会社 トンネル削孔における孔尻調整方法とその装置
KR100465007B1 (ko) * 2003-12-06 2005-01-14 강대우 디지피에스 수신기가 부착된 수중 암반 천공장치 및 그장치를 이용한 수중 암반의 천공방법
CN2732978Y (zh) * 2004-08-06 2005-10-12 荣成中磊石材有限公司 垂直孔定位凿岩装置
FI117570B (fi) * 2005-06-29 2006-11-30 Sandvik Tamrock Oy Menetelmä kallionporauslaitteen paikoittamiseksi porauspaikkaan ja kallionporauslaite
FI123744B (fi) * 2006-09-06 2013-10-15 Sandvik Mining & Constr Oy Menetelmä kallion poraamiseksi
FI123638B (fi) * 2007-04-20 2013-08-30 Sandvik Mining & Constr Oy Menetelmä porauskaavion suuntaamiseksi kaarevissa tunneleissa, kallionporauslaite sekä ohjelmistotuote
FI123647B (fi) * 2007-07-06 2013-08-30 Sandvik Mining & Constr Oy Kallionporauslaite
FI122035B (fi) * 2010-02-25 2011-07-29 Sandvik Mining & Constr Oy Menetelmä paikoitustiedon esittämiseksi reikäviuhkaa porattaessa, käyttöliittymä ja kallionporauslaite
FI20105185A (fi) * 2010-02-25 2011-08-26 Sandvik Mining & Constr Oy Kallionporauslaite, menetelmä kallionporaukseen sekä kallionporauslaitteen ohjausjärjestelmä

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AU2013222034A1 (en) 2014-04-17
ZA201306821B (en) 2015-11-25
CN103711487B (zh) 2017-01-11
EP2713002A1 (fr) 2014-04-02
JP5792783B2 (ja) 2015-10-14
JP2014070488A (ja) 2014-04-21
CN103711487A (zh) 2014-04-09
AU2013222034B2 (en) 2015-08-27
CA2827180A1 (fr) 2014-04-01
CA2827180C (fr) 2016-01-12

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